Header header
string move_state #vehicle_state #still or move
uint32 task_id
string cur_path_id #string path_id 
string cur_point_id #string  point_id
string cur_path_dir #string  path_direction

string event #pause safe_stop and cmd keeping
string amr_fsm_state
#任务执行状态: finish, pause, fail, working
string amr_task_state